diff --git a/README.md b/README.md
index dd10541..f7b54c3 100644
--- a/README.md
+++ b/README.md
@@ -52,10 +52,13 @@ void app_main(void)
     encoder_init_config.a_gpio_number = GPIO_NUM_27;
     encoder_init_config.b_gpio_number = GPIO_NUM_26;
     // encoder_init_config.encoder_min_value = -10; // Just for example.
-    // encoder_init_config.encoder_max_value = 10;  // Just for example.
+    // encoder_init_config.encoder_max_value = 20;  // Just for example.
     // encoder_init_config.encoder_step = 0.1;      // Just for example.
     encoder_init_config.encoder_number = 1;
     zh_encoder_init(&encoder_init_config, &encoder_handle);
+    double position = 0;
+    zh_encoder_get(&encoder_handle, &position);
+    printf("Encoder position %0.2f.\n", position); // For ESP8266 first disable "Component config -> Newlib -> Enable ‘nano’ formatting options for printf/scanf family" via menuconfig.
     // zh_encoder_set(&encoder_handle, 5); // Just for example.
     // zh_encoder_reset(&encoder_handle);  // Just for example.
 }
@@ -63,6 +66,6 @@ void app_main(void)
 void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
 {
     zh_encoder_event_on_isr_t *event = event_data;
-    printf("Encoder number %d position %.2f.\n", event->encoder_number, event->encoder_position);
+    printf("Encoder number %d position %.2f.\n", event->encoder_number, event->encoder_position); // For ESP8266 first disable "Component config -> Newlib -> Enable ‘nano’ formatting options for printf/scanf family" via menuconfig.
 }
 ```
diff --git a/include/zh_encoder.h b/include/zh_encoder.h
index 6e1b657..75a416d 100644
--- a/include/zh_encoder.h
+++ b/include/zh_encoder.h
@@ -83,6 +83,16 @@ extern "C"
      */
     esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position);
 
+    /**
+     * @brief Get encoder position.
+     *
+     * @param[in] handle Pointer to unique encoder handle.
+     * @param[out] position Encoder position.
+     *
+     * @return ESP_OK if success or an error code otherwise.
+     */
+    esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position);
+
     /**
      * @brief Reset encoder position.
      *
diff --git a/zh_encoder.c b/zh_encoder.c
index 26d5b8b..8e3ca15 100644
--- a/zh_encoder.c
+++ b/zh_encoder.c
@@ -80,6 +80,15 @@ esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position)
     return ESP_OK;
 }
 
+esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position)
+{
+    ZH_ENCODER_LOGI("Encoder get position started.");
+    ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder get position failed. Encoder not initialized.");
+    *position = handle->encoder_position;
+    ZH_ENCODER_LOGI("Encoder get position completed successfully.");
+    return ESP_OK;
+}
+
 esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle)
 {
     ZH_ENCODER_LOGI("Encoder reset started.");